CN102236325A - Microcontroller having a computing unit and a logic circuit, and method for carrying out computations by a microcontroller for a regulation or a control in a vehicle - Google Patents
Microcontroller having a computing unit and a logic circuit, and method for carrying out computations by a microcontroller for a regulation or a control in a vehicle Download PDFInfo
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- CN102236325A CN102236325A CN2011101049191A CN201110104919A CN102236325A CN 102236325 A CN102236325 A CN 102236325A CN 2011101049191 A CN2011101049191 A CN 2011101049191A CN 201110104919 A CN201110104919 A CN 201110104919A CN 102236325 A CN102236325 A CN 102236325A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
- F02D41/28—Interface circuits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2409—Addressing techniques specially adapted therefor
- F02D41/2422—Selective use of one or more tables
Abstract
A microcontroller having a computing unit and a logic circuit. The microcontroller carries out computations for a regulation or control in a vehicle. The computing unit is connected to the logic circuit, and the logic circuit has an arrangement for computing an exponential function and is configurable.
Description
Technical field
The present invention is based on a kind of microcontroller and a kind of method that is used for being used for the adjusting or the control of vehicle by microcontroller execution calculating with computing unit and logical circuit.
Background technology
The mathematical problem that calculating strength in the opertaing device in automotive field is big can be found the solution from many aspects.Standard processor can not be used in the built-in field.Be unfavorable for the use of standard processor such as the reason of expensive, finite temperature scope, the predictability that differs from and safety requirements.Therefore in built-in field, use special-purpose microcontroller.Calculating on these microcontrollers is obviously slower because in general clock frequency is lower, operational cache memory still less, pipeline stages is not changed high concurrency, does not carry out calculating of predictive or the like.In built-in field, under the high situation of calculation requirement, use multinuclear computing unit or additional digital signal processor (DSP) for this reason.A kind of multiple nucleus system of using at automotive field of being used for has been described in EP-1456720.A kind of system controller with digital signal processor in automotive field has been described in DE 102005022247.
Summary of the invention
The logical circuit of the microcontroller of the being advised exponential function that can calculate by providing is carried out the calculating of microcontroller thus, and therefore realize to the task of microcontroller faster, more favourable (cost and area requirements), energy is more effective and more reliable calculating, the calculating of exponential function is exactly a kind of subtask for these tasks.A special advantage is, transfers to the burden that the computing unit that has alleviated microcontroller on the logical circuit calculates and visits by exponential function is calculated.By the possibility of this configuration logic, can realize especially flexibly but also especially effectively calculating support.
Owing to logical circuit is positioned at outside the processor as independent hardware component, therefore this processor there is not direct dependence.Avoided influencing each other thus to the enforcement speed of other functional processor.The enforcement of software can not be subjected to direct influence.Although function is limited, the control of software processes device can be used and be subjected to for this reason to the function of being implemented as far as possible neatly.
In addition, utilize this solution can also satisfy hard real time requirement in built-in field.
Other advantage and the feature of improving by dependent claims obtain.
If logical circuit can be configured to for example can read configuration data from configuration data memory for the purpose that disposes this logical circuit, then this logical circuit can be used in the microcontroller especially neatly.Such data can relate to should calculate for which exponential function, just for example relates to the free parameter or the constant of exponential function.Can also determine that described logical circuit calculates the exponential function of summation, and regulation to want the quantity of the phase plus item of addition be configurable.Can stipulate in addition the summation of different exponential function, wherein to each requirement and exponential function can to require and the parameter and the quantity of exponential function be configured.In addition, if if the parallelization that for example realizes different computed paths or in this logical circuit, for example realize calculating by logical circuit, then this configuration could also relate to the type of the calculating of exponential function.Alternatively, this logical circuit can also calculation requirement and value itself, these values form by calculating the inside item.
Suitable is, configuration data can preferably produce according to the task or the determined information of vehicles that will calculate by microcontroller or the computing unit by microcontroller, and writes in the configuration data memory that can be visited by logical circuit.Thus, described logical circuit can mate with will calculating of task neatly, but also can mate with other condition.
In order to change this configuration effectively, described logical circuit can have (this locality) storer that is connected, the described configuration data of storage in this storer.
If save the use of local storage, then favourable can also leave configuration data in the global storage in, logical circuit for example can carry out direct memory visit (DMA) to this global storage, so that also realize fast in this solution and configuration reliably.
Particularly advantageous is that the microcontroller of being advised can be used to calculate output parameter by Bayesian regression based on input parameter and trained values, wherein carries out the exponential function that needs in order to carry out Bayesian regression by the logical circuit of specialization and calculates.Make microcontroller under the situation that constitutes microcontroller especially effectively, can carry out more effective and more accurate control thus to vehicle functions.
Description of drawings
Shown in the drawings and the explanation in more detail in the following description of embodiments of the invention.
Fig. 1 schematically shows the connection of parts and these parts of microcontroller.
Embodiment
In description of the invention, represent pure, the especially fixing logical circuit of line with logical circuit, this logical circuit does not have the processor of software implementation.
Fig. 1 schematically shows the connection of parts and these parts of microcontroller.At this, processor core 11, the first global storage unit 12, the second global storage unit 13 and the logical circuit 14 of computing unit or computing unit respectively with communicate to connect 10 and be connected, and can communicate to connect 10 intercommunications mutually respectively by this.Communicate to connect 10 and can for example be set to bus system.And in Fig. 1, for example will communicate to connect 10 and be divided into two buses of separating with bus bridge 16.Logical circuit 14 can be connected with local memory unit 15.
A lot of conversions of in hardware circuit exponential function being calculated all are known.For example, this can consult the BKM algorithm (Bajard, Kla, Muller), cordic algorithm or consult is used for known series expansion that exponential function is similar to.The method of other approximate simulation exponential function also is feasible.
A kind of be used in the automotive field, be used to regulate and the technology of control system is to show characteristic specific to system by characterisitic family.The characterisitic family data are the approximate reflections to special system performance.At run duration, these data are directly used or interpolation ground is analyzed, for example to determine the working point or for example derive unknown parameter from known state and parameter.Complicated characterisitic family has a plurality of dimensions usually.The support point of characterisitic family (St ü tzstellen) highlights by predetermined quantity data.These support points are calculated by off-line ground, are just using calculating constantly, and have just for example left the FLASH(flash memory of microprocessor when paying opertaing device regularly in) in.
Defective in the characterisitic family scheme is that along with the quantity increase of dimension, the quantity of support point is crossed ratio ground and risen.They correspondingly need more storer, and therefore this scheme is with high costs.In addition, must interpolation the value between support point.Along with the quantity increase of dimension, the quantity and the complicacy of interpolation also increase.Read from storer that support point and interpolation all expend time in and calculating strength is big.Especially, scarcely predictable and therefore not the visit to the characterisitic family that for example is arranged in flash memory of available buffer can cause the stand-by period of processor to the length of each read access, waiting time is in the order of magnitude of a plurality of clocks.This time generally can not otherwise use---waste a lot of calculated performances.In addition, the support point of interpolation and limited quantity can be followed the loss of precision---and this shows as reducing of adjusting or control accuracy again.
The hardware accelerator that the logical circuit of being advised calculates as the exponential function that is used for the opertaing device computing unit make can be in this article for example will be at present since limited computational resource and can't use, be used for determining that the replacement method of unknown parameter is used to control vehicle functions, and using these parameters in real time by opertaing device according to (for example measured and/or calculated) known parameters.
As example, in a kind of particularly advantageous expansion scheme homing method such as the imparametrization of Bayesian regression at this at this point.For example relevant in order to predict then, the characteristic parameter that is used to control and/or the regulate (parameter of combustion technology for example with engine, the air system parameter, or the like), can will be used for opertaing device such as Bayesian regression methods such as Kriging, Gaussian process, sparse Gaussian processes.At this, the calculation procedure of calculating a part, the especially calculating of index function of Gauss's homing method or being used for the gauge index function is transferred to logical circuit.
Compare with known method, such Bayesian regression model provides more accurate result and can use more neatly.The Bayesian regression model can not have pre-knowledge and not have only to come to reflect without a doubt high-dimensional nonlinear relationship based on training data under the parameterized situation.This Bayesian regression model is at this black box model just.Briefly, based on the deviation of determining between the trained values that input parameter and off-line before using opertaing device record, the random function to the best from determined a large amount of random function is averaged, with definite parameters needed.The precision of this method optimal function deviation each other with average in this reduced graph is corresponding.Therefore opposite with known method, the Bayesian regression model also provides the explanation that model is changed (model reliability) except model prediction.
Using like this under the situation of microcontroller or logical circuit, opertaing device from the opertaing device outside for example from sensor or other opertaing device, computing unit or other module received signal.These parameters are called input parameter at this, and for example can be temperature signal, tach signal, number signal or the like.In memory cell storage at determining parameter off-line ground, just definite and be stored in value in this memory cell in thermometrically before opertaing device or vehicle operating.These values are at this and all be called trained values below.Determine a kind of stage with notion " off-line " or " before operation ", opertaing device is not in the real-time regulated or the control task (" online " of being used for normal in service of vehicle in this stage, " be in operation "), but be the test of described opertaing device, calibration and definite relevant vehicle functions in this stage, for example in automotive supplier or automaker's factory, in the workshop during this opertaing device of application or when test run.
In storer, can also deposit the parameter and the parameter that receive or calculate and belong to equally input parameter by described opertaing device.Logical circuit is identified for satisfying the control of opertaing device or one or more output parameters of regulatory function independently or with the computing unit of control program with being connected.Parameter or intermediate parameters that output parameter needs in order to control/to regulate in this expression, they can not or can only directly record in vehicle very bothersomely or determine and therefore determine from the input parameter that is provided.For this reason, opertaing device is being considered to carry out Bayesian regression by being stored in training data in the storer, relevant with output parameter to be determined under the situation of the input parameter relevant with output parameter to be determined when operation.For this reason, computing unit can partly be treated to the algorithm of carrying out this recurrence and needing with software, but the calculation procedure that will determine, comprise exponential function calculating is transferred on the logical circuit of specialization.Output parameter of determining or the control of determining with this output parameter or conditioning signal for example output to actuator by the output terminal output of opertaing device, perhaps enter as intermediate value in other calculating.
The basis of Bayesian regression is in [Gaussian Processes for Machine Learning, C.E.Rasmusen and C.Williams, MIT Press, 2006].When using such homing method, the definite prediction that is used in real time, just calculating parameters needed according to the known parameters of opertaing device when opertaing device moves comprises the calculating of exponential function with the basic formula that is used to control vehicle functions, especially under the method situation of using so-called square of index nuclear (Squared Exponential Kernel).Because the calculating of definite calculating operation association index function described herein is transferred on the logical circuit 14, such or similarly method can in the motor vehicle opertaing device, use especially effectively.As relevant especially, at exponential function to be calculated or at the example of the exponential function that should be accelerated to calculate, for example can be following formula for so not parameterized method, but the invention is not restricted to such formula:
The result=
This formula forms by the exponential function e () with inner item.This inside item is by coming the standardization to input parameter C4 divided by C5, and by and the poor calculating of C3 and the distance between trained values or the particular characteristic value.Then middle result is carried out exponentiate (exponentiert) with C6, so as then when summation with weighting factor C2 multiply each other addition.Then Function e () is applied to this summed result (==inner).This result can obtain weighting by multiplying each other with C1.Typically C6=2 and C2=1.
Like this, calculate the exponential function of N phase plus item sum in this dimension corresponding to input parameter.The value C1-C6 and and mobile index (Laufindices) (with initial value, the quantity of phase plus item and final value) can be set to configurable.The part of only these parameters of replacing is configurable, and other parameter given in advance regularly.
Can in logical circuit, calculate the exponential function to be calculated that has or do not have the inside item fully at this, part can be calculated and shift, and exponential function can also be the part by the bigger formula of logical circuit calculating.In addition, logical circuit can be constituted as, and makes this logical circuit can also carry out other except exponential function calculates and can be parallel to or replace exponential function to calculate and the calculating of execution.At this, logical circuit can be with the inner parallelization arbitrarily of being implemented in of algorithm.Outwards only guarantee consistance (Konsistenz), or by the suitable inconsistent state of the outside signaling of device.
Alternatively, logical circuit can simultaneously, still not influence each other single result ground calculating more than a formula or task.Conversion can be carried out on a calculation element by parallel calculation element or sequential order ground.In order to distinguish the formula example, all be known at this configuration parameter that concerning hardware accelerator, is used for each formula.Advantageously, the switching between the configuration group or be feasible for this reason to the separately visit of single configuration group, and the part of the configuration group of formula or task can be used in again in other formula or the task.
Alternatively, logical circuit should periodically be implemented.This enforcement is corresponding restarted before, all or part of of configuration data this by with the cooperating and participate in cooperating of hardware component with other in case of necessity and upgrade of software processes device.
The present invention can replenish following optional possibility, promptly for example by implementing outer loop a plurality of institutes result calculated that adds up.Hardware accelerator can be configured to the feasible single result to be added up (or parameter or configuration data) that different individual tasks optionally is set for this reason.
Communication between processor 11, logical circuit 14 and storer 12 and 13 can be via common bus 10 to be constituted by direct connection or other and to carry out---as shown in Figure 1 via the data routing of mutual uncoupling such as bus bridge, cross bar switch (Crossbar)---.In addition, can use configurable communication and synchronization mechanism alternatively, as component software processor 11, logical circuit 14 and transmission interruption between other parts that relate in case of necessity in participation.
Round-robin quantity---for example that is to say under the situation of integer-valued exponential function described with have how many plus items mutually, the exponential function of some or form by a plurality of exponential functions and situation under should how to carry out exponential function continually in succession,
Constant---can constant or parameter be set according to task or according to vehicle functions and vehicle-state,
Be used for the specific indication of computing formula---that is to say how calculating should be carried out,
In case of necessity with the mutual type and the mode of processor,
In case of necessity about the information of other calculating to be performed.
Configuration data can be combined as one or more groups connectedly according to type of determining and mode alternatively.Logical circuit 14 must known access type to each configuration group.When operation, come configuration logic 14 in case of necessity at state with aspect group's visit.At this, configuration data for example can be only in local storage 15, only storage distributively in one of global storage unit 12 and 13 or between these memory members.For example, if configuration data leaves in one or more global storages 11 and 12 wholly or in part, then logical circuit 14 can be visited overall visible memory area or visit global storage, especially by direct memory visit (DMA).
Alternatively, owing to the reason that visit is optimized is carried out like this to the indication of the constant of formula or task, promptly constant array is carried out the visit of linearity or approximately linear at observed time durations.Similarly also be applicable to and implement a plurality of formula, the configuration data of these formula is deposited linearly mutually adjacent to each other according to ideal style thus.
Different with dynamic configurability, can in hardware accelerator, directly determine single value as already mentioned.Can also be regularly or interchangeable value configurablely given in advance, from these interchangeable values, can derive above-described configuration indirectly.
The dynamic-configuration of logical circuit 14 is by to the description of configuration register or config memory, by to remaining system unit, especially undertaken by the software of implementing on processor 11.
Alternatively, this configuration can be visited (DMA) controller by direct memory and carried out, and this direct memory access controller can be controlled by the software of processor.Can also be configured by other parts of total system.
Logical circuit can have inner optimized Measures, the calculating in advance of the optimized Measures conversion data that this is inner or pre-loaded or result or intermediate result remained in impact damper or the streamline.In order to reach high dirigibility, logical circuit can have following ability respectively alternatively: the calculating that restarts, switches to the same equation with other configuration parameter and other optimized Measures of the storage of interruptibility, intermediate value, calculating.Under the situation of interrupting, should store all relevant information and make in case of necessity and can read these information, can restart this calculating immediately or in the moment after a while so that make.Acceptablely at this be to abandon the insignificant sub-fraction (the insignificant meaning is, do not influence computing time and enforcement during other system unit is cooperated) of the calculating of having carried out.
The startup of the calculating by logical circuit can be by other system unit arbitrarily, especially promote by the software processes device.
Claims (13)
1. microcontroller with computing unit (11) and logical circuit (14), wherein this microcontroller is carried out and is used for the adjusting of vehicle or the calculating of control, it is characterized in that, this computing unit (11) is connected with described logical circuit (14), this logical circuit (14) has the device that is used for the gauge index function, and described logical circuit (14) can be configured.
2. microcontroller according to claim 1 is characterized in that, can dispose described logical circuit (14) aspect the configurable parameter of described exponential function.
3. according to one of aforesaid right requirement described microcontroller, it is characterized in that, can dispose described logical circuit (14) aspect the number of computations of exponential function.
4. one of require described microcontroller according to aforesaid right, it is characterized in that, described logical circuit (14) has the result's of a plurality of exponential functions that calculate that are used to add up device.
5. according to one of aforesaid right requirement described microcontroller, it is characterized in that described logical circuit (14) can be configured aspect the compute type of described exponential function.
6. according to one of aforesaid right requirement described microcontroller, it is characterized in that the configuration data in described logical circuit (14) the access configuration data-carrier store (12,13,15) is to be used for configuration.
7. microcontroller according to claim 6, it is characterized in that, this microcontroller has and is used for setting up the configuration data that is used for logical circuit (14) and this configuration data being write device in the configuration data memory (12,13,15) according to pending calculating.
8. microcontroller according to claim 7 is characterized in that, described microcontroller has and is used for by direct memory visit described configuration data being write device in the configuration data memory (12,13,15).
9. according to the described microcontroller of one of claim 6 to 8, it is characterized in that described configuration data is stored in the local storage (15) that is connected with logical circuit (14).
10. according to the described microcontroller of one of claim 6 to 8, it is characterized in that described configuration data is stored in the global storage (12,13), described logical circuit (14) can visit this global storage by the direct memory visit.
11. according to one of aforesaid right requirement described microcontroller, it is characterized in that, this microcontroller has the device that is used for during vehicle operating calculating based at least one input parameter of determining at this run duration at least one output parameter that is used to control vehicle functions, and has a device that is used under situation about using, carrying out the calculating of this output parameter in the Bayesian regression of the trained values of determining for this output parameter and input parameter before the described operation, wherein said logical circuit (14) calculates the calculation procedure of Bayesian regression, and these calculation procedures comprise exponential function.
12. one kind is used for carry out calculating with the adjusting that is used for vehicle or the method for control by microcontroller, it is characterized in that, the computing unit of this microcontroller (11) is connected with logical circuit (14), this logical circuit (14) disposes by this computing unit (11), and by this logical circuit (14) gauge index function.
13. method according to claim 11, it is characterized in that, during vehicle operating, calculate at least one output parameter that is used to control vehicle functions based at least one input parameter of determining at this run duration, using under the situation of Bayesian regression the calculating of carrying out this output parameter by the trained values of before described operation, determining for this output parameter and input parameter, and calculate the calculation procedure of Bayesian regression by described logical circuit (14), these calculation procedures comprise exponential function.
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| DE102010028259.6 | 2010-04-27 | ||
| DE102010028259A DE102010028259A1 (en) | 2010-04-27 | 2010-04-27 | A microcontroller having a computing unit and a logic circuit and method for performing calculations by a microcontroller for control or in-vehicle control |
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| CN102236325A true CN102236325A (en) | 2011-11-09 |
| CN102236325B CN102236325B (en) | 2017-01-18 |
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| CN (1) | CN102236325B (en) |
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| CN102236325B (en) | 2017-01-18 |
| FR2959325A1 (en) | 2011-10-28 |
| US8731737B2 (en) | 2014-05-20 |
| DE102010028259A1 (en) | 2011-10-27 |
| US20110282517A1 (en) | 2011-11-17 |
| FR2959325B1 (en) | 2019-09-20 |
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